Systems and methods for autonomous vehicles with lighting control

ABSTRACT

An autonomous vehicle is disclosed. The vehicle comprises a chassis, two or more drive wheels extending below the chassis, a drive motor housed within the chassis for driving the drive wheels, and a payload surface on top of the chassis for carrying a payload. An illumination system, for emitting light from at least one portion of the chassis, is mounted substantially around the entire perimeter of the chassis. The illumination system may be implemented using an array of light-emitting diodes (“LEDs”) that are arranged as segments. For example, there may be “headlight” segments on the front left and front right corners of the chassis.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/259,712, filed on 8 Sep. 2016, entitled “Lighting Control System andMethod for Autonomous Vehicles”, which claims priority to U.S.provisional patent application No. 62/220,391, filed on 18 Sep. 2015.Both of these applications are incorporated by reference herein in theirentirety.

FIELD

The specification relates generally to autonomous vehicles, andspecifically to a lighting control system for autonomous vehicles.

BACKGROUND

The capabilities of autonomous vehicles (i.e. robots), and as a resultthe breadth of situations in which autonomous vehicles are employed,continues to grow. With the increasing capabilities and computationalresources of such vehicles, their capability for operationalindependence also grows. As a result, less direct human control may benecessary for such vehicles. Although there are benefits to greaterindependence for autonomous vehicles, increased independence can alsolead to insufficient information being readily available to humanoperators or bystanders relating to the vehicle's operation.

SUMMARY

An aspect of the specification provides an autonomous vehicle comprisinga chassis, two or more drive wheels extending below the chassis, a drivemotor housed within the chassis for driving the drive wheels, a payloadsurface on top of the chassis for carrying a payload, and anillumination system for emitting light from at least a portion of thechassis.

Another aspect of the specification provides a method of controlling anillumination system for an autonomous vehicle. The method comprisesstoring, in a memory, a plurality of lighting pattern definitions forcontrolling the illumination system, and receiving state data defining acurrent state of the autonomous vehicle at a processor connected to thememory and the illumination system. The processor is configured toselect one of the lighting patterns based on the state data, and theillumination system is controlled according to the selected lightingpattern definition.

BRIEF DESCRIPTIONS OF THE DRAWINGS

Embodiments are described with reference to the following figures, inwhich:

FIG. 1 depicts a system for the deployment of an autonomous vehicle,according to a non-limiting embodiment;

FIG. 2A depicts the autonomous vehicle of FIG. 1, according to anon-limiting embodiment.

FIG. 2B depicts the autonomous vehicle of FIG. 1, according to anon-limiting embodiment.

FIG. 3 depicts a method of controlling an illumination system for theautonomous vehicle of FIG. 2A, according to a non-limiting embodiment.

FIG. 4 depicts a method for performing block 315 of the method of FIG.3, according to a non-limiting embodiment.

FIGS. 5A-5C depict example results of the performance of the method ofFIG. 3, according to a non-limiting embodiment;

FIGS. 6A-6C depict additional example results of the performance of themethod of FIG. 3, according to a non-limiting embodiment;

FIGS. 7A-7C depict further example results of the performance of themethod of FIG. 3, according to a non-limiting embodiment;

FIG. 8 depicts still further example results of the performance of themethod of FIG. 3, according to a non-limiting embodiment;

FIGS. 9A-9C depict still further example results of the performance ofthe method of FIG. 3, according to a non-limiting embodiment;

FIG. 10 depicts still further example results of the performance of themethod of FIG. 3, according to a non-limiting embodiment;

DETAILED DESCRIPTION OF THE EMBODIMENTS

FIG. 1 depicts a system 100 including an autonomous vehicle 104 fordeployment in a facility, such as a manufacturing facility, warehouse orthe like. The facility can be any one of, or any suitable combinationof, a single building, a combination of buildings, an outdoor area, andthe like. A plurality of autonomous vehicles can be deployed in thefacility. Autonomous vehicle 104 is also referred to herein simply asvehicle 104. Vehicle 104 need not be entirely autonomous. That is,vehicle 104 can receive instructions from human operators, computingdevices and the like, from time to time, and can act with varyingdegrees of autonomy in executing such instructions.

System 100 can also include a computing device 108 for connection tovehicle 104 via a network 112. Computing device 108 can be connected tonetwork 112 via, for example, a wired link 116, although wired link 116can be any suitable combination of wired and wireless links in otherembodiments. Vehicle 104 can be connected to network 112 via a wirelesslink 120. Links 120 can be any suitable combination of wired andwireless links in other examples, although generally a wireless link ispreferable to reduce or eliminate obstacles to the free movement ofvehicle 104 about the facility. Network 112 can be any suitable one of,or any suitable combination of, wired and wireless networks, includinglocal area networks (LAN or WLAN), wide area networks (WAN) such as theInternet, and mobile networks (e.g. GSM, LTE and the like).

Computing device 108 can transmit instructions to vehicle 104, such asinstructions to carry out tasks within the facility, to travel tocertain locations in the facility, and the like. In general, the tasksassigned to vehicle 104 by computing device 108 require vehicle 104 toperform various actions at various locations within the facility. Datadefining the actions and locations are provided to vehicle 104 bycomputing device 108 via network 112.

When vehicle 104 is assigned a task by computing device 108, vehicle 104is configured to generate a path for completing the task (e.g. a pathleading from the vehicle's current location to the end location of thetask; the path may include one or more intermediate locations betweenthe start location and the end location). In some embodiments, computingdevice 108 can assist vehicle 104 in path generation (also referred toas path planning), or can generate the path without the involvement ofvehicle 104 and send the completed path to vehicle 104 for execution.Generation of the above-mentioned paths can be based on, for example, amap of the facility stored at either or both of computing device 108 andvehicle 104. Various mechanisms for path generation will be apparent tothose skilled in the art; path generation is not directly relevant tothe present disclosure, and is therefore not discussed in further detailherein.

Vehicle 104, in general, generates and executes commands to move aboutthe facility, perform various tasks within the facility, and the like.In addition, vehicle 104 monitors various internal operationalparameters, such as error and warning conditions (e.g. a low battery orother energy supply). Further, as will be discussed in greater detailherein, vehicle 104 is configured to detect objects (i.e. obstacles) inits vicinity. The presence or absence of objects, the task and movementcommands, and the operational parameters mentioned above collectivelydefine a current state of vehicle. As will be described herein, vehicle104 includes an illumination system, and is configured to control theillumination system to signal its current state to outside viewers.

Before describing the above-mentioned control of the illumination systemby vehicle 104, a brief description of certain components of vehicle 104will be provided.

Referring now to FIG. 2A, an isometric view of autonomous vehicle 104 isshown, along with a block diagram of certain internal components ofvehicle 104. Vehicle 104 is depicted as a terrestrial vehicle, althoughit is contemplated that vehicle 104, in other embodiments, can be anaerial vehicle or a watercraft. Vehicle 104 includes a chassis 200containing or otherwise supporting various components, including one ormore locomotive devices 204. Devices 204 in the present example arewheels. In other embodiments, however, any suitable locomotive device,or combination thereof, may be employed (e.g. tracks, propellers, andthe like).

Locomotive devices 204 are driven by one or more motors (for example afirst motor 202 a and a second motor 202 b as shown in FIG. 2B)contained within chassis 200. The motors of vehicle 104 can be electricmotors, internal combustion engines, or any other suitable motor orcombination of motors. In general, the motors drive locomotive devices204 by drawing power from an energy storage device (not shown) supportedon or within chassis 200. The nature of the energy storage device canvary based on the nature of the motors. For example, the energy storagecan include batteries, combustible fuel tanks, or any suitablecombination thereof.

Vehicle 104, in the present embodiment, also includes a load-bearingsurface 208 (also referred to as a payload surface), upon which itemscan be placed for transportation by vehicle 104. In some examples,payload surface 208 can be replaced or supplemented with otherpayload-bearing equipment, such as a cradle, a manipulator arm, or thelike.

Vehicle 104 can also include a variety of sensors. In the presentexample, such sensors include at least one load cell 212 coupled topayload surface 208, for measuring a force exerted on payload surface208 (e.g. by an item being carried by vehicle 104). The sensors ofvehicle 104 can also include one or more machine vision sensors 216,such as any suitable one of, or any suitable combination of, barcodescanners, laser-based sensing devices (e.g. a LIDAR sensor), cameras andthe like. Vehicle 104 can also include a location sensor (not shown)such as a GPS sensor, for detecting the location of vehicle 104 withrespect to a frame of reference. The frame of reference may be, forexample, a global frame of reference (e.g. GPS coordinates), or afacility-specific frame of reference. Other sensors that can be providedwith vehicle 104 include accelerometers, fuel-level or battery-levelsensors, and the like.

Vehicle 104 can also include anchors 220 for securing items or otherequipment to chassis 200, or for lifting chassis 200 (e.g. formaintenance). In addition, vehicle 104 includes an illumination system224. In general, illumination system 224 is configured to emit visiblelight from at least a portion of chassis 200. In the present embodiment,illumination system 224 includes an array of light-emitting components,such as light emitting diodes (LEDs) extending substantially entirelyaround the perimeter of chassis 200. In the present embodiment, the LEDsare individually addressable and each capable of emitting multiplecolours (e.g. red, green and blue). In other embodiments, each LED canbe a single-colour LED.

In other embodiments, other light-emitting components can be employedinstead of, or in addition to, the above-mentioned LEDs. For example,the array shown in FIG. 1 can be replaced by a substantially annulardisplay panel (e.g. an LCD or OLED display) extending around chassis200. In further embodiments, the illumination system can include one ormore projectors (not shown) supported by chassis 200. For example,forward and rear-facing projectors can be disposed at opposite ends ofchassis 200 (e.g. with one of the projectors adjacent to sensor 216). Infurther embodiments, any suitable combination of projectors, with anysuitable orientation, can be supported by chassis 200.

In addition, vehicle 104 includes a central processing unit (CPU) 250,also referred to as a processor 250, interconnected with anon-transitory computer-readable medium such as a memory 254. Processor250 and memory 254 are generally comprised of one or more integratedcircuits (ICs), and can have a variety of structures, as will now occurto those skilled in the art (for example, more than one CPU can beprovided). Memory 254 can be any suitable combination of volatile (e.g.Random Access Memory (“RAM”)) and non-volatile (e.g. read only memory(“ROM”), Electrically Erasable Programmable Read Only Memory (“EEPROM”),flash memory, magnetic computer storage device, or optical disc) memory.

Vehicle 104 also includes a communications interface 258 (e.g. a networkinterface controller or NIC) interconnected with processor 250. Viacommunications interface 258, link 120 and network 112, processor 254can send and receive data to and from computing device 108. For example,vehicle 104 can send updated location data to computing device 108, andreceive instructions (e.g. tasks to be performed within the facility)from computing device 108. Additionally, processor 250 is interconnectedwith the other components of vehicle 104 mentioned above, such assensors 212 and 216, and illumination system 224.

Memory 254 stores a plurality of computer-readable programminginstructions, executable by processor 250, in the form of variousapplications, including an illumination control application 262 (alsoreferred to herein as application 262). As will be understood by thoseskilled in the art, processor 250 can execute the instructions ofapplication 262 (and any other suitable applications stored in memory254) in order to perform various actions defined within theinstructions. In the description below processor 250, and more generallyvehicle 104, is said to be “configured to” perform certain actions. Itwill be understood that vehicle 104 is so configured via the executionof the instructions of the applications stored in memory 254. Thoseskilled in the art will appreciate that in some embodiments, thefunctionality of processor 250 executing application 262 can beimplemented using pre-programmed hardware or firmware elements (e.g.,application specific integrated circuits (ASICs), electrically erasableprogrammable read-only memories (EEPROMs), etc.), or other relatedcomponents.

Memory 254 also stores lighting pattern definitions 266, for use byprocessor 250 in controlling illumination system 224. In general, aswill be discussed in greater detail below, lighting pattern definitions266 define a plurality of lighting patterns for controlling illuminationsystem 224. Each lighting pattern definition also defines conditionsunder which that lighting pattern definition is to be employed tocontrol illumination system 224. The contents of lighting patterndefinitions 266 and the selection of a lighting pattern definition forcontrolling illumination system 224 will be described in greater detailbelow.

Referring now to FIG. 3, a method 300 of controlling an illuminationsystem for an autonomous vehicle is depicted. The performance of method300 will be described in connection with its performance in system 100,although it is contemplated that method 300 can also be performed inother suitable systems. The blocks of method 300 as described below areperformed by vehicle 104, via the execution of application 262 byprocessor 250. In other embodiments, however, some or all or method 300can be performed by computing device 108.

Beginning at block 305, vehicle 104 is configured to store lightingpattern definitions 266, as mentioned above. Lighting patterndefinitions 266 can be stored in the form of a database, flat file, orany other suitable data structure. In general, lighting patterndefinitions 266 contains a plurality of records, with each recordincluding one or more parameters for controlling a illumination system224. As will be seen below, some records include parameters forcontrolling only certain portions of illumination system 224. Theparameters in the lighting pattern definition records can vary widely.Table 1 illustrates non-limiting examples of lighting patterndefinitions.

TABLE 1 Example Lighting Pattern Definitions 266 Pattern Segment ID IDCorresponding State Pattern Parameters P-00 Array 1, 2, 3, 4 IdleColour: white Brightness: 40% Distribution: solid P-01 Array 3, 4Mode/Docking Colour: yellow Distribution: 5 sections Frequency: 1 HzP-02 Array 1, 2 Trajectory Colour: white Distribution: 2 sectionsAlignment: direction of path P-03 Projector Trajectory Image: arrowAlignment: direction of path P-04 Array 1, 2 Environmental/ Colour:Object Distribution: 1 per object Alignment: direction of object P-05Array 3, 4 Warning/Low Colour: red Battery Distribution: 5 sectionsFrequency: 1 Hz P-06 Array 3, 4 Warning/Repair Colour: yellowDistribution: 1 section P-07 Array 1, 2, 3, 4 Error/E-Stop Colour: redBrightness: 100% Distribution: solid

As seen in Table 1, lighting pattern definitions 266 includes aplurality of records, each defining a lighting pattern—that is, a set ofparameters used by processor 250 to control illumination system 224. Inthe above example, each record is identified by a pattern identifier(e.g. “P-00” and so on), although such an identifier can be omitted inother embodiments.

Each lighting pattern definition record also includes an indication of astate of vehicle 104 in which the pattern is to be used to controlillumination system 224. The state in which each pattern is to be usedis illustrated above in the “Corresponding State” column in Table 1. Aswill be discussed below in greater detail, the state of vehicle 104 isdefined by state data received at processor 250. The state dataindicates which ones of a plurality of sub-states are active in vehicle104, and can also include data defining the active sub-states. Forexample, one sub-state may be a “warnings” sub-state, and the state datamay indicate that a low battery warning is active. As seen above, thepattern “P-05” is configured for use when a low battery warning ispresent.

Each lighting pattern definition record further includes lightingparameters for controlling illumination system 224. Any combination of awide variety of lighting parameters may be employed. The lightingparameters can define any one or more of colour, brightness, images tobe projected (when illumination system 224 includes a projector), areasor shapes to be illuminated (for example, identifying certain portionsof the above-mentioned array of LEDs) and the distribution of such areas(e.g. the spacing between the areas, the locations of the areas on thearray of LEDs), and the like. Other parameters are also contemplated,including frequency parameters defining a frequency at whichillumination system 224 (or certain areas thereof) will flash when underthe control of the relevant pattern definition.

As will be apparent from Table 1, the lighting parameters can alsoinclude variable parameters whose values depend on other data availableto processor 250. For example, the pattern “P-03” specifies that anarrow image is to be projected not in any predefined direction, butrather in the direction (either current or planned) of travel of vehicle104. Various example parameters in addition to those shown in Table 1will occur to those skilled in the art throughout this document. It isalso noted that a wide variety of formats may be employed to store thelighting parameters. Although the lighting parameters are presented inplain language in Table 1 for the purpose of illustration, it will nowbe apparent to those skilled in the art that any of a wide variety offormats can be employed to store the lighting parameters, depending onthe requirements of processor 250 and illumination system 224.

In addition, as shown in Table 1, each lighting pattern definitionrecord can include one or more segment identifiers each corresponding toone or more predefined portions of illumination system 224. In thepresent example, in which illumination system 224 includes a projectorand the above-mentioned array of LEDs, the segment identifierscorrespond, respectively, to the projector and each of the four sides ofthe array. A wide variety of other segment identifiers are alsocontemplated (for example, the array can be divided into a greater orsmaller number of separately controllable segments, and the segmentsneed not be aligned with the sides shown in FIG. 2A). The use of segmentidentifiers by processor 250 will be described below in greater detail.

At block 310, processor 250 is configured to receive state data defininga current state of vehicle 104. The state data can be received fromvarious sources, including internal sensors and other systems housedwithin chassis 200, and computing device 108. In general, the state datacan include any one of, or any combination of, trajectory data,environmental data, and control data.

Trajectory data defines a trajectory of vehicle 104. Trajectory data cantherefore include the current location and velocity of vehicle 104(either received from computing device 108 or from onboard sensors suchas a GPS sensor within chassis 200). Trajectory data can also includeplanned locations and velocities of vehicle 104, in the form of one ormore sets of path data, each set identifying a sequence of locations(and, in some embodiments, accompanying vectors) to which vehicle 104 isto travel. The trajectory data can also include locomotion commands(e.g. defined as vectors consisting of a direction and a speed; ordefined as power instructions to the motors driving wheels 204)generated by either or both of processor 250 and computing device 108based on the path data. The generation of the path data can be performedin a wide variety of ways. For example, the path data can include aglobal path identifying a target location, and a local path identifyinga series of intermediate locations that vehicle 104 will traverse toreach the target location. In some embodiments, the global path can begenerated by computing device 108 while the local path can be generatedby processor 250 itself. In other embodiments, both the global and localpaths can be generated by computing device 108, or by processor 250.

Environmental data defines at least one object in the vicinity ofvehicle 104. For example, processor 250 can be configured to detectobjects within the field of view of a sensor such as sensor 216, and todetermine the position of such objects in relation to vehicle 104. Insome embodiments, the environmental data can also include mapping datastored in memory 254 or received from computing device 108 andidentifying the locations of one or more objects within the facilitymentioned earlier. Environmental data can also include indications ofwhether the objects detected in the vicinity of vehicle 104 are instationary or in motion. When the objects are in motion, theenvironmental data can also include vector data defining the directionand velocity of travel of the objects (either in relation to vehicle 104or in relation to another frame of reference, such as one specific tothe facility in which vehicle 104 is deployed).

Control data defines various operational parameters of vehicle 104,received at processor 250 from sensors and other components supported bychassis 200. For example, the control data can include indications ofany warning conditions that are active (e.g. a low battery warning), anyerror conditions that are active (e.g. an emergency stop error), andidentifiers of any discrete operating modes currently active in vehicle104. An example of a discrete operating mode is a docking mode, in whichvehicle 104 is configured to perform a predetermine sequence ofmovements to approach or couple with other equipment in the facility.The operational parameters can also include any of a variety ofdiagnostic data collected by processor 250 from sensors onboard vehicle104. For example, the operational parameters can include data indicatingwear on certain components (e.g. the motors driving wheels 204), dataindicating failures of certain components, and the like.

Having received the state data, at block 315 processor 250 is configuredto identify any active sub-states based on the state data. In thepresent example, the identification is performed by determining, atprocessor 250, whether each of a plurality of previously definedsub-states is active based on the state data. The sub-states are rankedin order of their importance to the control of illumination system 224.An example of sub-states to be evaluated at block 315 is shown below inTable 2.

TABLE 2 Example Sub-States Sub-State Rank Activity Condition Idle 1 N/ADiscrete Mode 2 >0 discrete modes active Motion 3 path execution inprogress Objects 4 >0 objects detected Warnings 5 >0 warnings activeErrors 6 >0 errors active

As seen above, each sub-state includes a rank, with the higher ranksbeing more important to the control of illumination system 224, as willbe discussed below in greater detail. Each sub-state record alsoincludes one or more activity conditions, which can be evaluated byprocessor 250 to determine whether the corresponding sub-state iscurrently active. In other embodiments, rather than refer to activityconditions as shown above, processor 250 can determine which sub-statesare active based on the origins of the above-mentioned state data. Forexample, the receipt of data from a warnings sub-system of vehicle 104can indicate to processor 250 that the warnings sub-state is active.

Based on the contents of Table 2, a wide variety of other sub-states andrankings will now be apparent to those skilled in the art. The contentsof Table 2, or any other suitable ranked listing of sub-states, can bestored in memory 254 (for example, within application 262 or as aseparate database or other data structure).

Turning briefly to FIG. 4, an example implementation of block 315 ofFIG. 3 is illustrated, based on the contents of Table 2. Beginning atblock 400, processor 250 is configured to set the highest ranked activesub-state to “idle”. In other embodiments, processor 250 can firstdetermine whether the idle sub-state is indeed active, for example ifthere are lower-ranked sub-states and certain conditions must besatisfied to enter the idle state. The current highest ranked activesub-state can be stored in memory 254.

At block 405, processor 250 is configured to determine whether theoperational data of the state data received at block 310 indicates thata discrete operating mode (such as a docking mode) is active. When thedetermination at block 405 is affirmative, processor 250 is configuredto update the highest ranked active sub-state at block 410, by replacingthe identification of the idle sub-state with the identification of thediscrete mode sub-state. The above procedure is then repeated for eachof the remaining sub-states. In other words, processor 250 is configuredto determine, at blocks 415, 425, 435 and 445 respectively, whether thetrajectory, objects, warnings and errors sub-states are active based onthe state data and the conditions in Table 2. For each affirmativedetermination, processor 250 is configured to replace the currenthighest ranked active sub-state in memory 254 (at blocks 420, 430, 440and 450, respectively) with the sub-state most recently determined to beactive. Finally, at block 455, processor 250 is configured to return(that is, to the primary processing routine shown in FIG. 3) the currenthighest ranked sub-state. Thus, the performance of block 315, in thepresent example, consists of a series of determinations, in whichpositive results override any previous positive results.

Returning to FIG. 3, having identified the active sub-states (forexample, via the process shown in FIG. 4), processor 250 is configuredto perform block 320. At block 320, processor 250 is configured toselect a lighting pattern definition corresponding to the highest rankedactive sub-state. More specifically, processor 250 is configured toselect, from Table 1 or any other suitable set of lighting patterndefinitions, the record corresponding to the highest ranked activesub-state. In the present example, if the highest ranked activesub-state is “Idle”, then the record “P-00” from Table 1 is selected atblock 320.

In some embodiments, lighting pattern definitions 266 include more thanone lighting pattern record for a given sub-state. For example, recordsP-05 and P-06 both relate to the “warnings” sub-state. In suchembodiments, processor 250 is configured to select the subset of recordscorresponding to the highest ranked active sub-state, and then to selectfrom that subset the lighting pattern corresponding to the state data.For example, if the state data indicates that a low battery warning ispresent, and the warnings sub-state is the highest ranked activesub-state, then processor 250 is configured to select from patterns P-05and P-06 based on the state data. Since the state data includes thewarning condition identifier “low battery”, the pattern P-05 isselected.

Having selected a lighting pattern definition, in some embodimentsprocessor 250 can be configured to proceed directly to block 350, andcontrol illumination system 224 according to the selected lightingpattern definition. In the present example, however, processor 250 isconfigured to perform additional actions prior to controllingillumination system 224. The additional actions performed by processor250, which are described below, include retrieving a transitionallighting pattern (where available) and selecting additional lightingpatterns for other segments of illumination system 224.

At block 325, processor 250 is configured to retrieve an identifier ofthe previously selected lighting pattern definition. For example, uponcompletion of a performance of method 300, processor 250 can store, forinstance in a cache in memory 254, an identifier of the selectedlighting pattern definition (or definitions), for use in subsequentperformances of method 300. The previous lighting pattern identifierretrieved at block 325 identifies the lighting pattern that is currentlybeing used to control illumination system 224.

Having retrieved the identifier of the previous lighting patterndefinition, processor 250 is configured, at block 330, to determinewhether a transitional lighting pattern between the previous lightingpattern and the lighting pattern selected at block 320 is available.Memory 254 can contain a set of transitional lighting patterns defininglighting parameters for transitioning between different records inlighting pattern definitions 266. In other embodiments, suchtransitional lighting patterns can be stored directly in lightingpattern definitions 266. In general, a transitional lighting patterndefinition identifies a source lighting pattern and a destinationlighting pattern, and includes lighting parameters such as colour,brightness and the like, described above. For example, a transitionallighting pattern between patterns P-00 and P-02 may include lightingparameters for controlling the array of LEDs to fade the solid whitecolour of P-00 down to zero brightness over a specified period of timebefore fading the two white sections (e.g. headlights) up to a specifiedbrightness over a second period of time.

When a transitional lighting pattern is available, processor 250 isconfigured to retrieve the transitional lighting pattern from memory 254at block 335. When no transitional lighting pattern is available,processor 250 is instead configured to proceed to block 340.

At block 340, processor 250 is configured to determine whether anysegments of illumination system 224 remain to be processed. As notedabove, each lighting pattern definition record can include a segmentidentifier identifying a portion of illumination system 224. As seen inTable 1, some lighting pattern definition records correspond to specificsegments of illumination system 224 (e.g. only certain sides of thearray of LEDs, or only the projector). In such embodiments, in thecourse of one performance of method 300 processor 250 is configured torepeat the performance of blocks 320, 325, 330, and 335 for each segmentof illumination system 224. Thus, at block 340, processor 250 isconfigured to determine whether, for the current performance of method300, blocks 320-335 have not yet been performed. When the determinationis affirmative, processor 250 is configured to select the nextun-processed segment and proceed to block 320 (the same state data andactive sub-states can be employed for all segments).

It will now be apparent to those skilled in the art that for somesegments, there may not exist a lighting pattern definition record forthe highest ranked active sub-state. For example, referring to Table 1,there are no lighting pattern definition records for the segments Array1 and Array 2 that correspond to the sub-state “Mode”. In suchsituations, processor 250 can be configured to store an ordered list ofall active sub-states at block 315, rather than a single highest rankedactive sub-state. Thus, when no lighting pattern definition recordexists for the highest ranked active sub-state, processor 250 can searchfor a lighting pattern definition record corresponding to the nexthighest ranked active sub-state, and (if necessary). If processor 250determines that there are no lighting pattern definition records for therelevant segment corresponding to any of the active sub-states, thenprocessor 250 is configured to set the lighting pattern for that segmentto null at block 320 and proceed to process the next segment.

When the determination at block 340 is negative—that is, when allsegments have been processed—processor 250 is configured to proceed toblock 350. At block 350, processor 250 is configured to controlillumination system 224 according to the selected lighting patterndefinition.

As will now be apparent to those skilled in the art, when multiplelighting pattern definitions were selected during the performance ofmethod 300, at block 350, processor 250 is configured to controlillumination system 224 based on each selected lighting patterndefinition. Thus, when illumination system 224 includes a plurality ofsegments, processor 250 is configured to control each segment based onthe corresponding selected lighting pattern definition. In someembodiments, processor 250 can issue independent instructions to thevarious segments of illumination system 224. For example, whenillumination system 224 includes a projector and an array of LEDs,processor 250 can be configured to transmit instructions to theprojector separately from the array.

Processor 250 can also, however, be configured to mix the selectedlighting pattern definitions for the respective segments to generate asingle mixed lighting pattern definition. Processor 250 can then beconfigured to instruct illumination system 224 on the basis of the mixedlighting pattern definition. For example, the above-mentioned array ofLEDs can be controlled by processor 250 via such a mixed lightingpattern definition, constructed from lighting pattern definitionsselected for each segment of the array as defined in Table 1.

Further, processor 250 can be configured to control illumination system224 (or certain segments thereof) based on both the pattern definitionsselected at block 320 and any transitional lighting patterns retrievedat block 335. For a given segment, the transitional pattern and theselected pattern can be mixed together before transmission toillumination system 224.

For certain lighting pattern definitions, the performance of block 350consists of sending the lighting parameters to illumination system 224.For other lighting pattern definitions, however, processor 250 isconfigured to perform additional actions at block 350 to controlillumination system 224.

For example, when a lighting pattern definition includes variablelighting parameters, such as the path direction of pattern P-03 in Table1, at block 350, processor 250 is configured to determine a direction.The determination of a direction (e.g. in which to project the arrowimage referred to by pattern P-03) can be based on either or both of aglobal and local path stored in memory 254. In some embodiments, thepattern itself can specify whether a global path or a local path are tobe considered in controlling illumination system 224. Further, processor250 can be configured to generate a direction based on a weightedcombination of inputs, such as a direction of a global path, a directionof a local path, and a direction specified by a locomotion command whoseexecution is beginning (that direction may not exactly match the localpath). The paths can also be limited and smoothed by processor 224 priorto control of illumination system 224.

As a further example, a lighting pattern definition contains variableparameters such as the object direction and closest object selection ofpattern P-04, processor 250 is configured to select the specified numberof objects based on the criteria (e.g. distance from vehicle 104)specified in the pattern definition. Processor 250 can also beconfigured, in some embodiments, to determine motion vectors of theobjects, and to perform a vector simplification process on such motionvectors prior to transmitting the lighting parameters to illuminationsystem 224.

Various examples of the results of performing block 350 at processor 250will now be discussed, with reference to FIGS. 5-10. Referring to FIG.5A, a pattern defining headlights 500 on the array of LEDs (on the“forward” segment of the array, based on the direction of motion ofvehicle 104, illustrated by arrow 502), and a second pattern definingtail lights 504 on the array, are illustrated. When the direction oftravel of vehicle 104 changes (as illustrated by arrow 502′), theheadlights can be repositioned (as shown by headlights 500′) in the newdirection of travel. As will now be apparent to those skilled in theart, headlights 500 can be defined by a pattern definition similar toP-02 shown in Table 1.

Referring to FIG. 5B, the array of illumination system 224 is shown inthree successive states 510, 512 and 514, in which all segments of thearray are illuminated at a frequency (e.g. 1 Hz) specified by a lightingpattern definition.

Referring to FIG. 5C, the array of illumination system 224 is shown inthree successive states 520, 522 and 524, in which all segments of thearray are illuminated with two sets of discrete sections specified by alighting pattern definition, alternating at a frequency (e.g. 1 Hz)specified by the lighting pattern definition.

Referring to FIG. 6A, vehicle 104 is shown in three states 600, 602 and604, illustrating a variant of the pattern shown in FIG. 5B, in whichall segments of the array are reduced in brightness at a given frequencyrather than being turned off as in state 512.

Referring to FIG. 6B, a combination of three lighting patterndefinitions is illustrated. In particular, headlights 610 defined by afirst pattern are illustrated in a forward direction (as indicated byarrow 612); tail lights 614 defined by a second pattern are illustratedin a rearward direction; and a set of discrete sections of the arraydistributed along the sides of vehicle 104 are activated according to athird pattern (e.g. representing hazard lights in a warning sub-state),flashing at a frequency defined in the third pattern.

Referring to FIG. 6C, vehicle 104 is shown in three states 620, 622 and624. The headlight and tail light patterns of FIG. 6B are illustrated,and a variant of the third “hazard” pattern of FIG. 6B is alsoillustrated, in which the discrete sections of the array are activatedin a sequence giving the appearance of motion. The sequence may berepeated at a frequency defined by the above-mentioned patterndefinition.

Referring to FIG. 7A, a more complex example of a lighting patterndefinition corresponding to a trajectory sub-state is illustrated. Inparticular, in an initial state 700, the array is controlled byprocessor 250 to activate a plurality of discrete sections 702 thatgather in a planned direction of travel 704 (that is, a directionspecified by path data), prior to actual movement of vehicle 104. Thearray of illumination system 224 is then configured to display a singleheadlight 706 spanning the forward segment of the array in a secondstate 708, still prior to motion of vehicle 104. When motion begins (ina third state 710), processor 250 is configured to control the array todisplay headlight 706 as well as the discrete sections mentioned above,travelling now in a direction opposite the direction of travel.

Referring to FIG. 7B, a section 712 (e.g. of length specified by thelighting pattern definition) of the array can be activated to indicatethe position of an obstacle 714 detected by vehicle 104. For example,the lighting pattern definition may specify that the position of theactivated section is to be determined by minimizing the distance betweenthe activated section and the detected object.

Referring to FIG. 7C, an example of projector lighting control isillustrated. In particular, an arrow 716 is shown projected in thedirection of travel of vehicle 104 (as shown in pattern P-03 of Table1). In addition, a safety, or exclusion, zone 718 can be projected onthe surface over which vehicle 104 is travelling to illustrate the areato be occupied by vehicle 104. The width and length of the safety zonecan be defined in the corresponding lighting pattern definition.

Referring to FIG. 8, a further projection lighting pattern isillustrated, consisting of three stages 800, 802 and 804. The stages areprojected in sequence, to illustrate an arrow extending from vehicle 104in a direction of travel. Thus, the underlying lighting patterndefinition can refer to a plurality of images for projection (threeimages, in the present example), and can also specify the sequence ofsuch images and the frequency with which the projector is to becontrolled to switch between the images.

Referring to FIG. 9A, the results of block 350 based on twoprojection-based patterns are illustrated. In particular, a firstpattern causes illumination system 224 (particularly, the projector) toproject an arrow 900 indicating a direction of travel of vehicle 104.Further, a second pattern causes the projector to project a border 902(e.g. on the surface over which vehicle 104 travels) around an obstacle904 detected by vehicle 104.

Referring to FIG. 9B, another variation is shown in which arrow 900 andborder 902 are projected. In addition, processor 250 can be configuredto determine (e.g. based on data from sensor 216, a camera or otherinput) whether obstacle 904 is a human. When the determination isaffirmative, processor 250 can be configured to project an instructionto the obstacle while vehicle 104 is in motion, such as a stop sign 906.

In FIG. 9C, vehicle 104 has altered its trajectory to come to a stop asa result of the detection of obstacle 904. Processor 250 thereforecontrols illumination system 224 to cease projecting arrow 900 (that is,the “motion” sub-state of Table 2 is determined to no longer be active).Instead, processor 250 controls the projector of illumination system 224to continue projecting border 902, and to also project a crosswalk 908and a stop sign 910 indicating that vehicle 104 will remain stationary.

FIG. 10 illustrates a further lighting pattern definition that can beemployed to control the projector when path data indicates that vehicle104 will reverse its direction of travel. In particular, a description1000 of the planned change in trajectory is projected on the surfaceover which vehicle 104 travels.

Variations to the above systems and methods are contemplated. Forexample, in some embodiments, computing device 108 can perform portionsof method 300, rather than processor 250. For example, computing device108 can be configured to store lighting pattern definitions and receivestate data from vehicle 104, and to select lighting pattern definitionsfor transmission to vehicle 104. In other words, in such embodiments,processor 250 performs only block 350 of method 300, while computingdevice 108 performs the remainder of method 300. Other subdivisions ofmethod 300 between computing device 108 and vehicle 104 will also now beapparent to those skilled in the art.

In further embodiments, illumination system 224 and associated controlhardware can be implemented as a separate module that is mountable onany of a variety of autonomous vehicles. In other words, illuminationsystem 224 can be implemented as an augmentation for autonomous vehiclesthat otherwise lack the illumination functionality described above.

In such embodiments, the discrete module includes illumination system224 as described above, as well as a processor, memory, and interfacehardware for communicating with an on-board processor of the autonomousvehicle. Thus, when the discrete module is mounted on an autonomousvehicle, the autonomous vehicle may include two distinct computingdevices—one supported within the discrete module and responsible forillumination control, and one contained within the vehicle andresponsible for motion control (e.g. trajectory planning and the like,as mentioned earlier).

The discrete computing device configured to control the illuminationsystem performs method 300 as shown in FIG. 3 and as described above. Aswill now be apparent, at block 310 the computing device configured tocontrol the illumination system (i.e. the computing device housed in thediscrete module) is configured to receive the state data from thecomputing device contained within the vehicle. That is, the vehiclecomputing device can be configured to receive the state data asdescribed earlier herein, and to then transmit the state data to theillumination computing device. In some embodiments, the illuminationcomputing device can instead be configured to intercept the state data,so as to receive the state data without requiring any additionalactivity on the part of the vehicle computing device. For example, thediscrete module can include electrical contacts for connecting tovarious data buses of the vehicle computing device, to permit theillumination computing device to capture the state data.

The scope of the claims should not be limited by the embodiments setforth in the above examples, but should be given the broadestinterpretation consistent with the description as a whole.

We claim:
 1. An autonomous vehicle, comprising: a chassis; two or moredrive wheels extending below the chassis; one or more drive motorshoused within the chassis for driving the drive wheels; a payloadsurface on top of the chassis for carrying a payload; a sensor on thefront of the chassis; an illumination system for emitting light from atleast a portion of the chassis; and a processor in communication withthe sensor and the illumination system for controlling the illumination;wherein the processor is configured to control the illumination systemto display a first pattern, receive a signal from the sensor based on adetected object, and control the illumination system to display a secondpattern based on the signal; wherein the illumination system is mountedaround the entire perimeter of the chassis.
 2. The vehicle of claim 1,wherein the illumination system comprises an array of light-emittingcomponents.
 3. The vehicle of claim 2, wherein the array is configuredbased on array segments.
 4. The vehicle of claim 3, wherein the arraysegments comprise a first headlight segment on a first front corner ofthe chassis and a second headlight segment on a second front corner ofthe chassis.
 5. The vehicle of claim 4, wherein the array segmentscomprise a first tail-light segment on a first rear corner of thechassis and a second tail-light segment on a second rear corner of thechassis.
 6. The vehicle of claim 2, wherein the light-emittingcomponents are light-emitting diodes (“LEDs”).
 7. The vehicle of claim1, wherein the sensor is a laser-based sensor.
 8. The vehicle of claim7, wherein the laser-based sensor is a LIDAR sensor.
 9. A method ofcontrolling an illumination system for an autonomous vehicle, the methodcomprising: storing, in a memory, a plurality of lighting patterndefinitions for controlling the illumination system; receiving, at aprocessor connected to the memory and the illumination system, statedata defining a current state of the autonomous vehicle; at theprocessor, selecting one of the lighting patterns based on the statedata; and controlling the illumination system according to the selectedlighting pattern definition.
 10. The method of claim 9, wherein thestate data include environmental data defining an object in a vicinityof the autonomous vehicle.
 11. The method of claim 9, wherein the statedata include control data defining operation parameters of theautonomous vehicle.
 12. The method of claim 11, wherein the control dataare associated with a warning condition.
 13. The method of claim 9,wherein the state data include trajectory data defining a trajectory ofthe autonomous vehicle.
 14. The method of claim 13, wherein controllingthe illumination system according to the selected lighting patterndefinition comprises illuminating a segment of the illumination system.15. The method of claim 14, wherein the trajectory of the autonomousvehicle is associated with the vehicle turning left, and the segment ofthe illumination system is located at a front left corner of thevehicle.
 16. The method of claim 9, wherein the illumination system ismounted around the entire perimeter of the autonomous vehicle.